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feat: add all code

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This commit is contained in:
鱼香ROS
2024-01-28 21:03:42 +08:00
parent 4d12ba5891
commit 682c7d3849
220 changed files with 17024 additions and 0 deletions
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17
.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceFolder}/**",
"/opt/ros/humble/include/**"
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
"cStandard": "c17",
"cppStandard": "gnu++17",
"intelliSenseMode": "linux-gcc-x64"
}
],
"version": 4
}

70
chapt10/chapt10_ws/.vscode/settings.json vendored Normal file
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{
"files.associations": {
"array": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"atomic": "cpp",
"bit": "cpp",
"*.tcc": "cpp",
"bitset": "cpp",
"chrono": "cpp",
"compare": "cpp",
"complex": "cpp",
"concepts": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"forward_list": "cpp",
"list": "cpp",
"map": "cpp",
"set": "cpp",
"string": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"numeric": "cpp",
"optional": "cpp",
"random": "cpp",
"ratio": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"fstream": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"mutex": "cpp",
"new": "cpp",
"numbers": "cpp",
"ostream": "cpp",
"semaphore": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"stop_token": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"cinttypes": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp"
}
}

2729
chapt10/chapt10_ws/pub5_sub5_2M.txt Normal file
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chapt10/chapt10_ws/shm.xml Normal file
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<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<data_writer profile_name="default publisher profile" is_default_profile="true">
<qos>
<publishMode>
<kind>SYNCHRONOUS</kind>
</publishMode>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</data_writer>
<data_reader profile_name="default subscription profile" is_default_profile="true">
<qos>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</data_reader>
</profiles>

56
chapt10/chapt10_ws/src/learn_compose/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_compose)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rclcpp_components REQUIRED)
include_directories(include)
add_executable(intra_process_pubsub
src/intra_process_pubsub.cpp
src/talker.cpp
src/listener.cpp
)
ament_target_dependencies(intra_process_pubsub std_msgs rclcpp rclcpp_components)
install(TARGETS intra_process_pubsub
DESTINATION lib/${PROJECT_NAME})
find_package(rclcpp_components REQUIRED)
add_library(talker_component SHARED src/talker.cpp)
ament_target_dependencies(talker_component "std_msgs" "rclcpp" "rclcpp_components")
rclcpp_components_register_nodes(talker_component "learn_compose::Talker")
add_library(listener_component SHARED src/listener.cpp)
ament_target_dependencies(listener_component "std_msgs" "rclcpp" "rclcpp_components")
rclcpp_components_register_nodes(listener_component "learn_compose::Listener")
install(TARGETS talker_component listener_component
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_package()

19
chapt10/chapt10_ws/src/learn_compose/include/learn_compose/listener.hpp Normal file
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#ifndef LEARN_COMPOSE__LISTENER_COMPONENT_HPP_
#define LEARN_COMPOSE__LISTENER_COMPONENT_HPP_
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/int32.hpp"
namespace learn_compose {
class Listener : public rclcpp::Node {
public:
explicit Listener(const rclcpp::NodeOptions &options);
private:
rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub_;
};
} // namespace learn_compose
#endif // LEARN_COMPOSE__LISTENER_COMPONENT_HPP_

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chapt10/chapt10_ws/src/learn_compose/include/learn_compose/talker.hpp Normal file
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#ifndef LEARN_COMPOSE__TALKER_COMPONENT_HPP_
#define LEARN_COMPOSE__TALKER_COMPONENT_HPP_
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/int32.hpp"
namespace learn_compose {
class Talker : public rclcpp::Node {
public:
explicit Talker(const rclcpp::NodeOptions &options);
private:
int32_t count_;
rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub_;
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace learn_compose
#endif // LEARN_COMPOSE__TALKER_COMPONENT_HPP_

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chapt10/chapt10_ws/src/learn_compose/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_compose</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_compose/src/intra_process_pubsub.cpp Normal file
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#include "learn_compose/listener.hpp"
#include "learn_compose/talker.hpp"
#include "rclcpp/rclcpp.hpp"
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor executor;
rclcpp::NodeOptions options; // 创建节点选项
options.use_intra_process_comms(true); // 使用进程内通信
auto talker = std::make_shared<learn_compose::Talker>(options);
auto listener = std::make_shared<learn_compose::Listener>(options);
executor.add_node(talker);
executor.add_node(listener);
executor.spin();
rclcpp::shutdown();
return 0;
}

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chapt10/chapt10_ws/src/learn_compose/src/listener.cpp Normal file
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#include "learn_compose/listener.hpp"
#include <chrono>
namespace learn_compose {
using namespace std::chrono_literals;
Listener::Listener(const rclcpp::NodeOptions &options)
: Node("listener", options) {
sub_ = this->create_subscription<std_msgs::msg::Int32>(
"count", 10, [&](const std_msgs::msg::Int32::UniquePtr msg) {
RCLCPP_INFO(this->get_logger(), "收到数据:%d(0x%lX)", msg->data,
reinterpret_cast<std::uintptr_t>(msg.get()));
});
}
} // namespace learn_compose
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(learn_compose::Listener)

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chapt10/chapt10_ws/src/learn_compose/src/talker.cpp Normal file
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#include <chrono>
#include "learn_compose/talker.hpp"
namespace learn_compose {
using namespace std::chrono_literals;
Talker::Talker(const rclcpp::NodeOptions &options) : Node("talker", options) {
pub_ = this->create_publisher<std_msgs::msg::Int32>("count", 10);
auto callback = [&]() -> void {
std_msgs::msg::Int32::UniquePtr msg(new std_msgs::msg::Int32());
msg->data = count_++;
RCLCPP_INFO(this->get_logger(), "发布数据:%d(0x%lX)", msg->data,
reinterpret_cast<std::uintptr_t>(msg.get()));
pub_->publish(std::move(msg));
};
timer_ = this->create_wall_timer(1s, callback);
}
} // namespace learn_compose
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(learn_compose::Talker)

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chapt10/chapt10_ws/src/learn_dds_cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_dds_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
add_executable(shm_pub src/shm_pub.cpp)
ament_target_dependencies(shm_pub
rclcpp std_msgs
)
install(TARGETS shm_pub
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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chapt10/chapt10_ws/src/learn_dds_cpp/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_dds_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_dds_cpp/src/shm_pub.cpp Normal file
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#include "rclcpp/loaned_message.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/int32.hpp"
class LoanedMessagePublisher : public rclcpp::Node {
public:
LoanedMessagePublisher() : Node("loaned_message_publisher") {
publisher_ =
this->create_publisher<std_msgs::msg::Int32>("loaned_int_topic", 10);
timer_ = this->create_wall_timer(std::chrono::seconds(1), [&]() {
auto message = publisher_->borrow_loaned_message(); // 1.租借消息
message.get().data = count_++; // 2.放入数据
RCLCPP_INFO(this->get_logger(), "发布数据:%d", message.get().data);
publisher_->publish(std::move(message)); // 3.发布数据
});
}
private:
rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
int32_t count_{0};
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<LoanedMessagePublisher>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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chapt10/chapt10_ws/src/learn_executor_cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_executor_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
find_package(rclcpp REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(std_msgs REQUIRED)
add_executable(learn_executor src/learn_executor.cpp)
ament_target_dependencies(learn_executor rclcpp example_interfaces std_msgs)
install(TARGETS learn_executor
DESTINATION lib/${PROJECT_NAME})
ament_package()

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chapt10/chapt10_ws/src/learn_executor_cpp/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_executor_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_executor_cpp/src/learn_executor.cpp Normal file
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#include "example_interfaces/srv/add_two_ints.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include <sstream>
class LearnExecutorNode : public rclcpp::Node {
public:
LearnExecutorNode() : Node("learn_executor") {
publisher_ =
this->create_publisher<std_msgs::msg::String>("string_topic", 10);
timer_ = this->create_wall_timer(
std::chrono::seconds(1),
std::bind(&LearnExecutorNode::timer_callback, this));
service_callback_group_ = this->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive); // 互斥回调组
service_ = this->create_service<example_interfaces::srv::AddTwoInts>(
"add_two_ints",
std::bind(&LearnExecutorNode::add_two_ints_callback, this,
std::placeholders::_1, std::placeholders::_2),
rmw_qos_profile_services_default, service_callback_group_);
}
private:
void timer_callback() {
auto msg = std_msgs::msg::String();
msg.data = "话题发布：" + thread_info();
RCLCPP_INFO(this->get_logger(), msg.data.c_str());
publisher_->publish(msg);
}
std::string thread_info() {
std::ostringstream thread_str;
thread_str << "线程ID：" << std::this_thread::get_id();
return thread_str.str();
}
void add_two_ints_callback(
const std::shared_ptr<example_interfaces::srv::AddTwoInts::Request>
request,
std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response) {
RCLCPP_INFO(this->get_logger(), "服务开始处理：%s", thread_info().c_str());
std::this_thread::sleep_for(std::chrono::seconds(10));
response->sum = request->a + request->b;
RCLCPP_INFO(this->get_logger(), "服务处理完成：%s", thread_info().c_str());
}
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr service_;
rclcpp::CallbackGroup::SharedPtr service_callback_group_;
};
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
auto node = std::make_shared<LearnExecutorNode>();
// auto executor = rclcpp::executors::SingleThreadedExecutor();
auto executor = rclcpp::executors::MultiThreadedExecutor();
executor.add_node(node);
executor.spin();
rclcpp::shutdown();
return 0;
}

0
chapt10/chapt10_ws/src/learn_executor_py/learn_executor_py/__init__.py Normal file
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chapt10/chapt10_ws/src/learn_executor_py/learn_executor_py/learn_executor.py Normal file
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import rclpy
from rclpy.node import Node
from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
from rclpy.callback_groups import MutuallyExclusiveCallbackGroup, ReentrantCallbackGroup
from std_msgs.msg import String
from example_interfaces.srv import AddTwoInts
import threading
import time
class LearnExecutorNode(Node):
def __init__(self):
super().__init__('learn_executor')
self.publisher = self.create_publisher(String, 'string_topic', 10)
self.timer = self.create_timer(1.0, self.timer_callback)
my_callback_group = ReentrantCallbackGroup()
self.service = self.create_service(
AddTwoInts, 'add_two_ints', self.add_two_ints_callback,
callback_group=my_callback_group)
# self.service = self.create_service(
# AddTwoInts, 'add_two_ints', self.add_two_ints_callback)
def timer_callback(self):
msg = String()
msg.data = f'话题发布，线程ID:{threading.get_ident()} 线程总数:{threading.active_count()}'
self.get_logger().info(msg.data)
self.publisher.publish(msg)
def add_two_ints_callback(self, request: AddTwoInts.Request, response: AddTwoInts.Response):
self.get_logger().info(f'处理服务，线程ID:{threading.get_ident()}')
time.sleep(10) # 模拟处理延时
response.sum = request.a + request.b
self.get_logger().info(f'处理完成，线程ID:{threading.get_ident()}')
return response
def main(args=None):
rclpy.init(args=args)
node = LearnExecutorNode()
# executor = SingleThreadedExecutor()
executor = MultiThreadedExecutor()
executor.add_node(node)
executor.spin()
rclpy.shutdown()

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chapt10/chapt10_ws/src/learn_executor_py/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_executor_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt10/chapt10_ws/src/learn_executor_py/resource/learn_executor_py Normal file
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chapt10/chapt10_ws/src/learn_executor_py/setup.cfg Normal file
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[develop]
script_dir=$base/lib/learn_executor_py
[install]
install_scripts=$base/lib/learn_executor_py

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chapt10/chapt10_ws/src/learn_executor_py/setup.py Normal file
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from setuptools import find_packages, setup
package_name = 'learn_executor_py'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'learn_executor=learn_executor_py.learn_executor:main'
],
},
)

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chapt10/chapt10_ws/src/learn_executor_py/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
chapt10/chapt10_ws/src/learn_executor_py/test/test_flake8.py Normal file
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

23
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

33
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cmake_minimum_required(VERSION 3.8)
project(learn_lifecyclenode_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
add_executable(learn_lifecyclenode src/learn_lifecyclenode.cpp)
ament_target_dependencies(learn_lifecyclenode
rclcpp rclcpp_lifecycle
)
install(TARGETS learn_lifecyclenode
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_lifecyclenode_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

61
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#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
using CallbackReturn =
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
class LearnLifeCycleNode : public rclcpp_lifecycle::LifecycleNode {
public:
LearnLifeCycleNode()
: rclcpp_lifecycle::LifecycleNode("lifecyclenode") {
timer_period_ = 1.0;
timer_ = nullptr;
RCLCPP_INFO(get_logger(), "%s: 已创建", get_name());
}
CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override {
(void)state;
timer_period_ = 1.0;
RCLCPP_INFO(get_logger(), "on_configure():配置周期 timer_period");
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
CallbackReturn::SUCCESS;
}
CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override {
(void)state;
timer_ = create_wall_timer(
std::chrono::seconds(static_cast<int>(timer_period_)),
[this]() { RCLCPP_INFO(get_logger(), "定时器打印进行中..."); });
RCLCPP_INFO(get_logger(), "on_activate():处理激活指令，创建定时器");
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
CallbackReturn::SUCCESS;
}
CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override {
(void)state;
timer_.reset();
RCLCPP_INFO(get_logger(), "on_deactivate():处理失活指令，停止定时器");
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
CallbackReturn::SUCCESS;
}
CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override {
(void)state;
timer_.reset();
RCLCPP_INFO(get_logger(), "on_shutdown():处理关闭指令");
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
CallbackReturn::SUCCESS;
}
private:
rclcpp::TimerBase::SharedPtr timer_;
double timer_period_;
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<LearnLifeCycleNode>();
rclcpp::spin(node->get_node_base_interface());
rclcpp::shutdown();
return 0;
}

0
chapt10/chapt10_ws/src/learn_lifecyclenode_py/learn_lifecyclenode_py/__init__.py Normal file
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49
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import rclpy
from rclpy.lifecycle import LifecycleNode, TransitionCallbackReturn
class LearnLifeCycleNode(LifecycleNode):
def __init__(self):
super().__init__('lifecyclenode')
self.timer_period = 0
self.timer_ = None
self.get_logger().info(f'{self.get_name()}:已创建')
def timer_callback(self):
self.get_logger().info('定时器打印进行中...')
def on_configure(self, state):
self.timer_period = 1.0 # 设置定时器周期
self.get_logger().info('on_configure():配置周期 timer_period')
return TransitionCallbackReturn.SUCCESS
def on_activate(self, state):
self.timer_ = self.create_timer(self.timer_period, self.timer_callback)
self.get_logger().info('on_activate():处理激活指令，创建定时器')
return TransitionCallbackReturn.SUCCESS
def on_deactivate(self, state):
self.destroy_timer(self.timer_) # 销毁定时器
self.get_logger().info('on_deactivate():处理失活指令停止定时器')
return TransitionCallbackReturn.SUCCESS
def on_cleanup(self, state):
self.timer_ = None
self.timer_period = 0
self.get_logger().info('on_cleanup():处理清理指令')
return TransitionCallbackReturn.SUCCESS
def on_shutdown(self, state):
# 定时器未销毁则销毁
if self.timer_: self.destroy_timer(self.timer_)
self.get_logger().info('on_shutdown():处理关闭指令')
return TransitionCallbackReturn.SUCCESS
def on_error(self, state):
# 直接调用父类处理
return super().on_error(state)
def main():
rclpy.init()
node = LearnLifeCycleNode()
rclpy.spin(node)
rclpy.shutdown()

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_lifecyclenode_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt10/chapt10_ws/src/learn_lifecyclenode_py/resource/learn_lifecyclenode_py Normal file
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4
chapt10/chapt10_ws/src/learn_lifecyclenode_py/setup.cfg Normal file
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[develop]
script_dir=$base/lib/learn_lifecyclenode_py
[install]
install_scripts=$base/lib/learn_lifecyclenode_py

26
chapt10/chapt10_ws/src/learn_lifecyclenode_py/setup.py Normal file
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from setuptools import find_packages, setup
package_name = 'learn_lifecyclenode_py'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'learn_lifecyclenode=learn_lifecyclenode_py.learn_lifecyclenode:main'
],
},
)

25
chapt10/chapt10_ws/src/learn_lifecyclenode_py/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
chapt10/chapt10_ws/src/learn_lifecyclenode_py/test/test_flake8.py Normal file
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

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chapt10/chapt10_ws/src/learn_lifecyclenode_py/test/test_pep257.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

35
chapt10/chapt10_ws/src/learn_message_filter_cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_message_filter_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(message_filters REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
add_executable(timesync_test src/timesync_test.cpp)
ament_target_dependencies(timesync_test
rclcpp message_filters nav_msgs sensor_msgs
)
install(TARGETS timesync_test
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

23
chapt10/chapt10_ws/src/learn_message_filter_cpp/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_message_filter_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>message_filters</depend>
<depend>nav_msgs</depend>
<depend>sensor_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

70
chapt10/chapt10_ws/src/learn_message_filter_cpp/src/timesync_test.cpp Normal file
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#include "message_filters/subscriber.h"
#include "message_filters/sync_policies/approximate_time.h"
#include "message_filters/sync_policies/exact_time.h"
#include "message_filters/sync_policies/latest_time.h"
#include "message_filters/time_synchronizer.h"
#include "nav_msgs/msg/odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/imu.hpp"
using Imu = sensor_msgs::msg::Imu;
using Odometry = nav_msgs::msg::Odometry;
using namespace message_filters;
// 同步策略：严格时间对齐策略
// using MySyncPolicy = sync_policies::ExactTime<Imu, Odometry>;
// 同步策略：大约时间对齐策略
// using MySyncPolicy = sync_policies::ApproximateTime<Imu, Odometry>;
// 同步策略：最新时间对齐策略
using MySyncPolicy = sync_policies::LatestTime<Imu, Odometry>;
class TimeSyncTestNode : public rclcpp::Node {
public:
TimeSyncTestNode() : Node("sync_node") {
// 1.订阅 imu 话题并注册回调并打印时间戳
imu_sub_ = std::make_shared<Subscriber<Imu>>(this, "imu");
imu_sub_->registerCallback<Imu::SharedPtr>(
[&](const Imu::SharedPtr &imu_msg) {
RCLCPP_INFO(get_logger(), "imu(%u,%u)", imu_msg->header.stamp.sec,
imu_msg->header.stamp.nanosec);
});
// 2.订阅 odom 话题并注册回调函数打印时间戳
odom_sub_ = std::make_shared<Subscriber<Odometry>>(this, "odom");
odom_sub_->registerCallback<Odometry::SharedPtr>(
[&](const Odometry::SharedPtr &odom_msg) {
RCLCPP_INFO(get_logger(), "odom(%u,%u)", odom_msg->header.stamp.sec,
odom_msg->header.stamp.nanosec);
});
// 3.创建对应策略的同步器同步两个话题，并注册回调函数打印数据
// synchronizer_ = std::make_shared<Synchronizer<MySyncPolicy>>(
// MySyncPolicy(10), *imu_sub_, *odom_sub_);
// 3.创建对应策略的同步器同步两个话题，并注册回调函数打印数据
synchronizer_ = std::make_shared<Synchronizer<MySyncPolicy>>(
MySyncPolicy(), *imu_sub_, *odom_sub_);
synchronizer_->registerCallback(
std::bind(&TimeSyncTestNode::result_callback, this,
std::placeholders::_1, std::placeholders::_2));
}
private:
void result_callback(const Imu::ConstSharedPtr imu_msg,
const Odometry::ConstSharedPtr odom_msg) {
RCLCPP_INFO(get_logger(), "imu(%u,%u),odom(%u,%u))",
imu_msg->header.stamp.sec, imu_msg->header.stamp.nanosec,
odom_msg->header.stamp.sec, odom_msg->header.stamp.nanosec);
}
std::shared_ptr<Subscriber<Imu>> imu_sub_;
std::shared_ptr<Subscriber<Odometry>> odom_sub_;
std::shared_ptr<Synchronizer<MySyncPolicy>> synchronizer_;
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<TimeSyncTestNode>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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chapt10/chapt10_ws/src/learn_message_filter_py/learn_message_filter_py/__init__.py Normal file
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40
chapt10/chapt10_ws/src/learn_message_filter_py/learn_message_filter_py/timesync_test.py Normal file
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import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Imu
from nav_msgs.msg import Odometry
from message_filters import Subscriber, ApproximateTimeSynchronizer
class TimeSyncTestNode(Node):
def __init__(self):
super().__init__('sync_node')
# 1. 订阅 imu 话题并注册回调并打印时间戳
self.imu_sub = Subscriber(self, Imu, 'imu')
self.imu_sub.registerCallback(self.imu_callback)
# 2. 订阅 odom 话题并注册回调函数打印时间戳
self.odom_sub = Subscriber(self, Odometry, 'odom')
self.odom_sub.registerCallback(self.odom_callback)
# 3. 创建对应策略的同步器同步两个话题，并注册回调函数打印数据
self.synchronizer = ApproximateTimeSynchronizer(
[self.imu_sub, self.odom_sub], 10,
slop=0.01, # slop 表示时间窗口单位为秒
)
self.synchronizer.registerCallback(self.result_callback)
def imu_callback(self, imu_msg):
self.get_logger().info(
f'imu({imu_msg.header.stamp.sec},{imu_msg.header.stamp.nanosec})')
def odom_callback(self, odom_msg):
self.get_logger().info(
f'odom({odom_msg.header.stamp.sec},{odom_msg.header.stamp.nanosec})')
def result_callback(self, imu_msg, odom_msg):
self.get_logger().info(
f'imu({imu_msg.header.stamp.sec},{imu_msg.header.stamp.nanosec}),odom({odom_msg.header.stamp.sec},{odom_msg.header.stamp.nanosec})')
def main(args=None):
rclpy.init(args=args)
node = TimeSyncTestNode()
rclpy.spin(node)
rclpy.shutdown()

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chapt10/chapt10_ws/src/learn_message_filter_py/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_message_filter_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt10/chapt10_ws/src/learn_message_filter_py/resource/learn_message_filter_py Normal file
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4
chapt10/chapt10_ws/src/learn_message_filter_py/setup.cfg Normal file
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[develop]
script_dir=$base/lib/learn_message_filter_py
[install]
install_scripts=$base/lib/learn_message_filter_py

26
chapt10/chapt10_ws/src/learn_message_filter_py/setup.py Normal file
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from setuptools import find_packages, setup
package_name = 'learn_message_filter_py'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'timesync_test=learn_message_filter_py.timesync_test:main'
],
},
)

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chapt10/chapt10_ws/src/learn_message_filter_py/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

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chapt10/chapt10_ws/src/learn_message_filter_py/test/test_flake8.py Normal file
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

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chapt10/chapt10_ws/src/learn_message_filter_py/test/test_pep257.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

37
chapt10/chapt10_ws/src/learn_qos_cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_qos_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
find_package(rclcpp REQUIRED)
find_package(nav_msgs REQUIRED)
add_executable(reliability_test src/reliability_test.cpp)
ament_target_dependencies(reliability_test
rclcpp nav_msgs
)
install(TARGETS reliability_test
DESTINATION lib/${PROJECT_NAME})
ament_package()

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_qos_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

56
chapt10/chapt10_ws/src/learn_qos_cpp/src/reliability_test.cpp Normal file
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#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
class OdomPublisherSubscriber : public rclcpp::Node
{
public:
OdomPublisherSubscriber() : Node("odom_publisher_subscriber")
{
rclcpp::QoS qos_profile(10); // 队列深度为10
qos_profile.reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT); // 可靠性策略
qos_profile.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL); // 持久性策略
qos_profile.history(RMW_QOS_POLICY_HISTORY_KEEP_LAST); // 历史记录策略
qos_profile.deadline(rclcpp::Duration(1, 0)); // 截止时间为1秒
odom_publisher_ = this->create_publisher<nav_msgs::msg::Odometry>(
"odom", qos_profile);
// // 创建发布者并设置QoS为sensor
// odom_publisher_ = this->create_publisher<nav_msgs::msg::Odometry>(
// "odom", rclcpp::SensorDataQoS());
// 创建订阅者（默认QoS配置）队列深度设置为 5
// odom_subscription_ = this->create_subscription<nav_msgs::msg::Odometry>(
// "odom", 5,
// [this](const nav_msgs::msg::Odometry::SharedPtr msg) {
// (void)msg;
// RCLCPP_INFO(this->get_logger(), "收到里程计消息");
// });
odom_subscription_ = this->create_subscription<nav_msgs::msg::Odometry>(
"odom", rclcpp::SensorDataQoS(),
[this](const nav_msgs::msg::Odometry::SharedPtr msg)
{
(void)msg;
RCLCPP_INFO(this->get_logger(), "收到里程计消息");
});
// 创建一个1秒的定时器，并指定回调函数
timer_ = this->create_wall_timer(std::chrono::seconds(1), [this]()
{ odom_publisher_->publish(nav_msgs::msg::Odometry()); });
}
private:
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_publisher_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscription_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char *argv[])
{
rclcpp::init(argc, argv);
auto odom_node = std::make_shared<OdomPublisherSubscriber>();
rclcpp::spin(odom_node);
rclcpp::shutdown();
return 0;
}

0
chapt10/chapt10_ws/src/learn_qos_py/learn_qos_py/__init__.py Normal file
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41
chapt10/chapt10_ws/src/learn_qos_py/learn_qos_py/reliability_test.py Normal file
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import rclpy
from rclpy.node import Node
from nav_msgs.msg import Odometry
from rclpy import qos
from rclpy.duration import Duration
class OdomPublisherSubscriber(Node):
def __init__(self):
super().__init__('odom_publisher_subscriber')
# 创建发布者并设置QoS为sensor
qos_profile = qos.QoSProfile(
depth=10, # 队列深度
reliability=qos.ReliabilityPolicy.BEST_EFFORT, # 可靠性
durability=qos.DurabilityPolicy.TRANSIENT_LOCAL, # 持久性
history=qos.HistoryPolicy.KEEP_LAST, # 历史记录策略
deadline=Duration(seconds=1.0, nanoseconds=0),
)
# 在订阅和发布中使用
self.odom_publisher = self.create_publisher(Odometry, 'odom', qos_profile)
# 创建订阅者（默认QoS配置）队列深度设置为 5
self.odom_subscriber = self.create_subscription(
Odometry, 'odom', self.odom_callback,qos.qos_profile_sensor_data)
# 创建一个1秒的定时器，并指定回调函数
self.timer = self.create_timer(1.0, self.timer_callback)
def odom_callback(self, msg):
self.get_logger().info('收到里程计消息')
def timer_callback(self):
odom_msg = Odometry() # 创建一个Odometry消息
self.odom_publisher.publish(odom_msg) # 发布消息
def main(args=None):
rclpy.init(args=args)
odom_node = OdomPublisherSubscriber()
rclpy.spin(odom_node)
rclpy.shutdown()

18
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_qos_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt10/chapt10_ws/src/learn_qos_py/resource/learn_qos_py Normal file
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4
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[develop]
script_dir=$base/lib/learn_qos_py
[install]
install_scripts=$base/lib/learn_qos_py

26
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from setuptools import find_packages, setup
package_name = 'learn_qos_py'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'reliability_test=learn_qos_py.reliability_test:main'
],
},
)

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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
chapt10/chapt10_ws/src/learn_qos_py/test/test_flake8.py Normal file
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

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chapt10/chapt10_ws/src/learn_qos_py/test/test_pep257.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

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chapt10/chapt10_ws/topic_sub_limit.xml Normal file
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<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<!-- 默认发布者配置 -->
<publisher profile_name="default_publisher" is_default_profile="true">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</publisher>
<!-- 默认订阅者配置 -->
<subscriber profile_name="default_subscriber" is_default_profile="true">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</subscriber>
<!-- 话题 chatter 的发布者配置 -->
<publisher profile_name="/chatter">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<matchedSubscribersAllocation>
<initial>0</initial>
<maximum>1</maximum>
<increment>1</increment>
</matchedSubscribersAllocation>
</publisher>
</profiles>

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rosbag2_bagfile_information:
version: 5
storage_identifier: sqlite3
duration:
nanoseconds: 221085265896
starting_time:
nanoseconds_since_epoch: 1697985428618130944
message_count: 33156
topics_with_message_count:
- topic_metadata:
name: /imu
type: sensor_msgs/msg/Imu
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 22104
- topic_metadata:
name: /odom
type: nav_msgs/msg/Odometry
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 11052
compression_format: ""
compression_mode: ""
relative_file_paths:
- rosbag2_message_filter.db3
files:
- path: rosbag2_message_filter.db3
starting_time:
nanoseconds_since_epoch: 1697985428618130944
duration:
nanoseconds: 221085265896
message_count: 33156

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# 基于 ROS 2 和 Navigation 2 自动巡检机器人
## 1.项目介绍
本项目基于 ROS 2 和 Navigation 2 设计了一个自动巡检机器人仿真功能。
该巡检机器人要能够在不同的目标点之间进行循环移动，每到达一个目标点后首先通过语音播放到达的目标点信息，接着通过摄像头采集一张实时的图像并保存到本地。
各功能包功能如下：
- fishbot_description 机器人描述文件，包含仿真相关配置
- fishbot_navigation2 机器人导航配置文件
- fishbot_application 机器人导航应用 Python 代码
- fishbot_application_cpp 机器人导航应用 C++ 代码
- autopatrol_interfaces 自动巡检相关接口
- autopatrol_robot 自动巡检实现功能包
## 2.使用方法
本项目开发平台信息如下：
- 系统版本： Ubunt22.04
- ROS 版本：ROS 2 Humble
### 2.1安装
本项目建图采用 slam-toolbox，导航采用 Navigation 2 ,仿真采用 Gazebo，运动控制采用 ros2-control 实现，构建之前请先安装依赖，指令如下：
1. 安装 SLAM 和 Navigation 2
```
sudo apt install ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-slam-toolbox
```
2. 安装仿真相关功能包
```
sudo apt install ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-state-publisher ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-ros2-controllers ros-$ROS_DISTRO-xacro
```
3. 安装语音合成和图像相关功能包
```
sudo apt install python3-pip -y
sudo apt install espeak-ng -y
sudo pip3 install espeakng
sudo apt install ros-$ROS_DISTRO-tf-transformations
sudo pip3 install transforms3d
```
### 2.2运行
安装完成依赖后，可以使用 colcon 工具进行构建和运行。
构建功能包
```
colcon build
```
运行仿真
```
source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py
```
运行导航
```
source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py
```
运行自动巡检
```
source install/setup.bash
ros2 launch autopatrol_robot autopatrol.launch.py
```
## 3.作者
- [fishros](https://github.com/fishros)

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cmake_minimum_required(VERSION 3.8)
project(autopatrol_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rosidl_default_generators REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/SpeachText.srv"
)
ament_package()

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chapt7/chapt7_ws/src/autopatrol_interfaces/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autopatrol_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

3
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string text # 合成文字
---
bool result # 合成结果

0
chapt7/chapt7_ws/src/autopatrol_robot/autopatrol_robot/__init__.py Normal file
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chapt7/chapt7_ws/src/autopatrol_robot/autopatrol_robot/patrol_node.py Normal file
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import rclpy
from geometry_msgs.msg import PoseStamped, Pose
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
from tf2_ros import TransformListener, Buffer
from tf_transformations import euler_from_quaternion, quaternion_from_euler
from rclpy.duration import Duration
# 添加服务接口
from autopatrol_interfaces.srv import SpeachText
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import cv2
class PatrolNode(BasicNavigator):
def __init__(self, node_name='patrol_node'):
super().__init__(node_name)
# 导航相关定义
self.declare_parameter('initial_point', [0.0, 0.0, 0.0])
self.declare_parameter('target_points', [0.0, 0.0, 0.0, 1.0, 1.0, 1.57])
self.initial_point_ = self.get_parameter('initial_point').value
self.target_points_ = self.get_parameter('target_points').value
# 实时位置获取 TF 相关定义
self.buffer_ = Buffer()
self.listener_ = TransformListener(self.buffer_, self)
self.speach_client_ = self.create_client(SpeachText, 'speech_text')
# 订阅与保存图像相关定义
self.declare_parameter('image_save_path', '')
self.image_save_path = self.get_parameter('image_save_path').value
self.bridge = CvBridge()
self.latest_image = None
self.subscription_image = self.create_subscription(
Image, '/camera_sensor/image_raw', self.image_callback, 10)
def image_callback(self, msg):
"""
将最新的消息放到 latest_image 中
"""
self.latest_image = msg
def record_image(self):
"""
记录图像
"""
if self.latest_image is not None:
pose = self.get_current_pose()
cv_image = self.bridge.imgmsg_to_cv2(self.latest_image)
cv2.imwrite(f'{self.image_save_path}image_{pose.translation.x:3.2f}_{pose.translation.y:3.2f}.png', cv_image)
def speach_text(self, text):
"""
调用服务播放语音
"""
while not self.speach_client_.wait_for_service(timeout_sec=1.0):
self.get_logger().info('语合成服务未上线，等待中。。。')
request = SpeachText.Request()
request.text = text
future = self.speach_client_.call_async(request)
rclpy.spin_until_future_complete(self, future)
if future.result() is not None:
result = future.result().result
if result:
self.get_logger().info(f'语音合成成功：{text}')
else:
self.get_logger().warn(f'语音合成失败：{text}')
else:
self.get_logger().warn('语音合成服务请求失败')
def get_pose_by_xyyaw(self, x, y, yaw):
"""
通过 x,y,yaw 合成 PoseStamped
"""
pose = PoseStamped()
pose.header.frame_id = 'map'
pose.pose.position.x = x
pose.pose.position.y = y
rotation_quat = quaternion_from_euler(0, 0, yaw)
pose.pose.orientation.x = rotation_quat[0]
pose.pose.orientation.y = rotation_quat[1]
pose.pose.orientation.z = rotation_quat[2]
pose.pose.orientation.w = rotation_quat[3]
return pose
def init_robot_pose(self):
"""
初始化机器人位姿
"""
# 从参数获取初始化点
self.initial_point_ = self.get_parameter('initial_point').value
# 合成位姿并进行初始化
self.setInitialPose(self.get_pose_by_xyyaw(
self.initial_point_[0], self.initial_point_[1], self.initial_point_[2]))
# 等待直到导航激活
self.waitUntilNav2Active()
def get_target_points(self):
"""
通过参数值获取目标点集合
"""
points = []
self.target_points_ = self.get_parameter('target_points').value
for index in range(int(len(self.target_points_)/3)):
x = self.target_points_[index*3]
y = self.target_points_[index*3+1]
yaw = self.target_points_[index*3+2]
points.append([x, y, yaw])
self.get_logger().info(f'获取到目标点: {index}->({x},{y},{yaw})')
return points
def nav_to_pose(self, target_pose):
"""
导航到指定位姿
"""
self.waitUntilNav2Active()
result = self.goToPose(target_pose)
while not self.isTaskComplete():
feedback = self.getFeedback()
if feedback:
self.get_logger().info(f'预计: {Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9} s 后到达')
# 最终结果判断
result = self.getResult()
if result == TaskResult.SUCCEEDED:
self.get_logger().info('导航结果：成功')
elif result == TaskResult.CANCELED:
self.get_logger().warn('导航结果：被取消')
elif result == TaskResult.FAILED:
self.get_logger().error('导航结果：失败')
else:
self.get_logger().error('导航结果：返回状态无效')
def get_current_pose(self):
"""
通过TF获取当前位姿
"""
while rclpy.ok():
try:
tf = self.buffer_.lookup_transform(
'map', 'base_footprint', rclpy.time.Time(seconds=0), rclpy.time.Duration(seconds=1))
transform = tf.transform
rotation_euler = euler_from_quaternion([
transform.rotation.x,
transform.rotation.y,
transform.rotation.z,
transform.rotation.w
])
self.get_logger().info(
f'平移:{transform.translation},旋转四元数:{transform.rotation}:旋转欧拉角:{rotation_euler}')
return transform
except Exception as e:
self.get_logger().warn(f'不能够获取坐标变换，原因: {str(e)}')
def main():
rclpy.init()
patrol = PatrolNode()
patrol.speach_text(text='正在初始化位置')
patrol.init_robot_pose()
patrol.speach_text(text='位置初始化完成')
while rclpy.ok():
for point in patrol.get_target_points():
x, y, yaw = point[0], point[1], point[2]
# 导航到目标点
target_pose = patrol.get_pose_by_xyyaw(x, y, yaw)
patrol.speach_text(text=f'准备前往目标点{x},{y}')
patrol.nav_to_pose(target_pose)
patrol.speach_text(text=f"已到达目标点{x},{y},准备记录图像")
patrol.record_image()
patrol.speach_text(text=f"图像记录完成")
rclpy.shutdown()
if __name__ == '__main__':
main()

26
chapt7/chapt7_ws/src/autopatrol_robot/autopatrol_robot/speaker.py Normal file
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import rclpy
from rclpy.node import Node
from autopatrol_interfaces.srv import SpeachText
import espeakng
class Speaker(Node):
def __init__(self, node_name):
super().__init__(node_name)
self.speech_service = self.create_service(
SpeachText, 'speech_text', self.speak_text_callback)
self.speaker = espeakng.Speaker()
self.speaker.voice = 'zh'
def speak_text_callback(self, request, response):
self.get_logger().info('正在朗读 %s' % request.text)
self.speaker.say(request.text)
self.speaker.wait()
response.result = True
return response
def main(args=None):
rclpy.init(args=args)
node = Speaker('speaker')
rclpy.spin(node)
rclpy.shutdown()

10
chapt7/chapt7_ws/src/autopatrol_robot/config/patrol_config.yaml Normal file
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patrol_node:
ros__parameters:
initial_point: [0.0, 0.0, 0.0]
target_points: [
0.0,0.0,0.0,
1.0,2.0,3.14,
-4.5,1.5,1.57,
-8.0,-5.0,1.57,
1.0,-5.0,3.14,
]

28
chapt7/chapt7_ws/src/autopatrol_robot/launch/autopatrol.launch.py Normal file
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import os
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
# 获取与拼接默认路径
autopatrol_robot_dir = get_package_share_directory(
'autopatrol_robot')
patrol_config_path = os.path.join(
autopatrol_robot_dir, 'config', 'patrol_config.yaml')
action_node_turtle_control = launch_ros.actions.Node(
package='autopatrol_robot',
executable='patrol_node',
parameters=[patrol_config_path]
)
action_node_patrol_client = launch_ros.actions.Node(
package='autopatrol_robot',
executable='speaker',
)
return launch.LaunchDescription([
action_node_turtle_control,
action_node_patrol_client,
])

18
chapt7/chapt7_ws/src/autopatrol_robot/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autopatrol_robot</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt7/chapt7_ws/src/autopatrol_robot/resource/autopatrol_robot Normal file
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4
chapt7/chapt7_ws/src/autopatrol_robot/setup.cfg Normal file
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@@ -0,0 +1,4 @@
[develop]
script_dir=$base/lib/autopatrol_robot
[install]
install_scripts=$base/lib/autopatrol_robot

29
chapt7/chapt7_ws/src/autopatrol_robot/setup.py Normal file
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from setuptools import find_packages, setup
from glob import glob
package_name = 'autopatrol_robot'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
('share/' + package_name+'/config', ['config/patrol_config.yaml']),
('share/' + package_name+'/launch', glob('launch/*.launch.py')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'patrol_node=autopatrol_robot.patrol_node:main',
'speaker=autopatrol_robot.speaker:main',
],
},
)

25
chapt7/chapt7_ws/src/autopatrol_robot/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
chapt7/chapt7_ws/src/autopatrol_robot/test/test_flake8.py Normal file
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@@ -0,0 +1,25 @@
# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

23
chapt7/chapt7_ws/src/autopatrol_robot/test/test_pep257.py Normal file
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@@ -0,0 +1,23 @@
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

0
chapt7/chapt7_ws/src/fishbot_application/fishbot_application/__init__.py Normal file
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40
chapt7/chapt7_ws/src/fishbot_application/fishbot_application/get_robot_pose.py Normal file
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import rclpy
from rclpy.node import Node
from tf2_ros import TransformListener, Buffer
from tf_transformations import euler_from_quaternion
class TFListener(Node):
def __init__(self):
super().__init__('tf2_listener')
self.buffer = Buffer()
self.listener = TransformListener(self.buffer, self)
self.timer = self.create_timer(1, self.get_transform)
def get_transform(self):
try:
tf = self.buffer.lookup_transform(
'map', 'base_footprint', rclpy.time.Time(seconds=0), rclpy.time.Duration(seconds=1))
transform = tf.transform
rotation_euler = euler_from_quaternion([
transform.rotation.x,
transform.rotation.y,
transform.rotation.z,
transform.rotation.w
])
self.get_logger().info(
f'平移:{transform.translation},旋转四元数:{transform.rotation}:旋转欧拉角:{rotation_euler}')
except Exception as e:
self.get_logger().warn(f'不能够获取坐标变换，原因: {str(e)}')
def main():
rclpy.init()
node = TFListener()
rclpy.spin(node)
rclpy.shutdown()
if __name__ == '__main__':
main()

21
chapt7/chapt7_ws/src/fishbot_application/fishbot_application/init_robot_pose.py Normal file
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from geometry_msgs.msg import PoseStamped
from nav2_simple_commander.robot_navigator import BasicNavigator
import rclpy
def main():
rclpy.init()
navigator = BasicNavigator()
initial_pose = PoseStamped()
initial_pose.header.frame_id = 'map'
initial_pose.header.stamp = navigator.get_clock().now().to_msg()
initial_pose.pose.position.x = 0.0
initial_pose.pose.position.y = 0.0
initial_pose.pose.orientation.w = 1.0
navigator.setInitialPose(initial_pose)
navigator.waitUntilNav2Active()
rclpy.spin(navigator)
rclpy.shutdown()
if __name__ == '__main__':
main()

40
chapt7/chapt7_ws/src/fishbot_application/fishbot_application/nav_to_pose.py Normal file
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@@ -0,0 +1,40 @@
from geometry_msgs.msg import PoseStamped
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
import rclpy
from rclpy.duration import Duration
def main():
rclpy.init()
navigator = BasicNavigator()
# 等待导航启动完成
navigator.waitUntilNav2Active()
# 设置目标点坐标
goal_pose = PoseStamped()
goal_pose.header.frame_id = 'map'
goal_pose.header.stamp = navigator.get_clock().now().to_msg()
goal_pose.pose.position.x = 1.0
goal_pose.pose.position.y = 1.0
goal_pose.pose.orientation.w = 1.0
# 发送目标接收反馈结果
navigator.goToPose(goal_pose)
while not navigator.isTaskComplete():
feedback = navigator.getFeedback()
navigator.get_logger().info(
f'预计: {Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9} s 后到达')
# 超时自动取消
if Duration.from_msg(feedback.navigation_time) > Duration(seconds=600.0):
navigator.cancelTask()
# 最终结果判断
result = navigator.getResult()
if result == TaskResult.SUCCEEDED:
navigator.get_logger().info('导航结果：成功')
elif result == TaskResult.CANCELED:
navigator.get_logger().warn('导航结果：被取消')
elif result == TaskResult.FAILED:
navigator.get_logger().error('导航结果：失败')
else:
navigator.get_logger().error('导航结果：返回状态无效')
if __name__ == '__main__':
main()

52
chapt7/chapt7_ws/src/fishbot_application/fishbot_application/waypoint_follower.py Normal file
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from geometry_msgs.msg import PoseStamped
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
import rclpy
from rclpy.duration import Duration
def main():
rclpy.init()
navigator = BasicNavigator()
navigator.waitUntilNav2Active()
# 创建点集
goal_poses = []
goal_pose1 = PoseStamped()
goal_pose1.header.frame_id = 'map'
goal_pose1.header.stamp = navigator.get_clock().now().to_msg()
goal_pose1.pose.position.x = 0.0
goal_pose1.pose.position.y = 0.0
goal_pose1.pose.orientation.w = 1.0
goal_poses.append(goal_pose1)
goal_pose2 = PoseStamped()
goal_pose2.header.frame_id = 'map'
goal_pose2.header.stamp = navigator.get_clock().now().to_msg()
goal_pose2.pose.position.x = 2.0
goal_pose2.pose.position.y = 0.0
goal_pose2.pose.orientation.w = 1.0
goal_poses.append(goal_pose2)
goal_pose3 = PoseStamped()
goal_pose3.header.frame_id = 'map'
goal_pose3.header.stamp = navigator.get_clock().now().to_msg()
goal_pose3.pose.position.x = 2.0
goal_pose3.pose.position.y = 2.0
goal_pose3.pose.orientation.w = 1.0
goal_poses.append(goal_pose3)
# 调用路点导航服务
navigator.followWaypoints(goal_poses)
# 判断结束及获取反馈
while not navigator.isTaskComplete():
feedback = navigator.getFeedback()
navigator.get_logger().info(
f'当前目标编号：{feedback.current_waypoint}')
# 最终结果判断
result = navigator.getResult()
if result == TaskResult.SUCCEEDED:
navigator.get_logger().info('导航结果：成功')
elif result == TaskResult.CANCELED:
navigator.get_logger().warn('导航结果：被取消')
elif result == TaskResult.FAILED:
navigator.get_logger().error('导航结果：失败')
else:
navigator.get_logger().error('导航结果：返回状态无效')
if __name__ == '__main__':
main()

18
chapt7/chapt7_ws/src/fishbot_application/package.xml Normal file
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@@ -0,0 +1,18 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>fishbot_application</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt7/chapt7_ws/src/fishbot_application/resource/fishbot_application Normal file
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4
chapt7/chapt7_ws/src/fishbot_application/setup.cfg Normal file
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@@ -0,0 +1,4 @@
[develop]
script_dir=$base/lib/fishbot_application
[install]
install_scripts=$base/lib/fishbot_application

26
chapt7/chapt7_ws/src/fishbot_application/setup.py Normal file
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from setuptools import find_packages, setup
package_name = 'fishbot_application'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'init_robot_pose=fishbot_application.init_robot_pose:main',
],
},
)

25
chapt7/chapt7_ws/src/fishbot_application/test/test_copyright.py Normal file
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@@ -0,0 +1,25 @@
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
chapt7/chapt7_ws/src/fishbot_application/test/test_flake8.py Normal file
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@@ -0,0 +1,25 @@
# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

23
chapt7/chapt7_ws/src/fishbot_application/test/test_pep257.py Normal file
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@@ -0,0 +1,23 @@
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

36
chapt7/chapt7_ws/src/fishbot_application_cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(fishbot_application_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
find_package(rclcpp REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(rclcpp_action REQUIRED)
add_executable(nav2pose src/nav2pose.cpp)
ament_target_dependencies(nav2pose rclcpp nav2_msgs rclcpp_action)
install(TARGETS
nav2pose
DESTINATION lib/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

18
chapt7/chapt7_ws/src/fishbot_application_cpp/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>fishbot_application_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="fish@fishros.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

71
chapt7/chapt7_ws/src/fishbot_application_cpp/src/nav2pose.cpp Normal file
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#include <memory>
#include "nav2_msgs/action/navigate_to_pose.hpp" // 导入导航动作消息的头文件
#include "rclcpp/rclcpp.hpp" // 导入ROS 2的C++客户端库
#include "rclcpp_action/rclcpp_action.hpp" // 导入ROS 2的C++ Action客户端库
using NavigationAction = nav2_msgs::action::NavigateToPose; // 定义导航动作类型为NavigateToPose
class NavToPoseClient : public rclcpp::Node {
public:
using NavigationActionClient = rclcpp_action::Client<NavigationAction>; // 定义导航动作客户端类型
using NavigationActionGoalHandle =
rclcpp_action::ClientGoalHandle<NavigationAction>; // 定义导航动作目标句柄类型
NavToPoseClient() : Node("nav_to_pose_client") {
// 创建导航动作客户端
action_client_ = rclcpp_action::create_client<NavigationAction>(
this, "navigate_to_pose");
}
void sendGoal() {
// 等待导航动作服务器上线，等待时间为5秒
while (!action_client_->wait_for_action_server(std::chrono::seconds(5))) {
RCLCPP_INFO(get_logger(), "等待Action服务上线。");
}
// 设置导航目标点
auto goal_msg = NavigationAction::Goal();
goal_msg.pose.header.frame_id = "map"; // 设置目标点的坐标系为地图坐标系
goal_msg.pose.pose.position.x = 2.0f; // 设置目标点的x坐标为2.0
goal_msg.pose.pose.position.y = 2.0f; // 设置目标点的y坐标为2.0
auto send_goal_options =
rclcpp_action::Client<NavigationAction>::SendGoalOptions();
// 设置请求目标结果回调函数
send_goal_options.goal_response_callback =
[this](NavigationActionGoalHandle::SharedPtr goal_handle) {
if (goal_handle) {
RCLCPP_INFO(get_logger(), "目标点已被服务器接收");
}
};
// 设置移动过程反馈回调函数
send_goal_options.feedback_callback =
[this](
NavigationActionGoalHandle::SharedPtr goal_handle,
const std::shared_ptr<const NavigationAction::Feedback> feedback) {
(void)goal_handle; // 假装调用，避免 warning: unused
RCLCPP_INFO(this->get_logger(), "反馈剩余距离:%f",
feedback->distance_remaining);
};
// 设置执行结果回调函数
send_goal_options.result_callback =
[this](const NavigationActionGoalHandle::WrappedResult& result) {
if (result.code == rclcpp_action::ResultCode::SUCCEEDED) {
RCLCPP_INFO(this->get_logger(), "处理成功！");
}
};
// 发送导航目标点
action_client_->async_send_goal(goal_msg, send_goal_options);
}
NavigationActionClient::SharedPtr action_client_;
};
int main(int argc, char** argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<NavToPoseClient>();
node->sendGoal();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

32
chapt7/chapt7_ws/src/fishbot_description/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(fishbot_description)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY launch urdf config world
DESTINATION share/${PROJECT_NAME}
)
ament_package()

202
chapt7/chapt7_ws/src/fishbot_description/LICENSE Normal file
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52
chapt7/chapt7_ws/src/fishbot_description/config/fishbot_ros2_controller.yaml Normal file
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controller_manager:
ros__parameters:
update_rate: 100 # Hz
use_sim_time: true
fishbot_joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
use_sim_time: true
fishbot_effort_controller:
type: effort_controllers/JointGroupEffortController
fishbot_diff_drive_controller:
type: diff_drive_controller/DiffDriveController
fishbot_effort_controller:
ros__parameters:
joints:
- left_wheel_joint
- right_wheel_joint
command_interfaces:
- effort
state_interfaces:
- position
- velocity
- effort
fishbot_diff_drive_controller:
ros__parameters:
left_wheel_names: ["left_wheel_joint"]
right_wheel_names: ["right_wheel_joint"]
wheel_separation: 0.17
#wheels_per_side: 1 # actually 2, but both are controlled by 1 signal
wheel_radius: 0.032
wheel_separation_multiplier: 1.0
left_wheel_radius_multiplier: 1.0
right_wheel_radius_multiplier: 1.0
publish_rate: 50.0
odom_frame_id: odom
base_frame_id: base_footprint
pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01]
twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]
open_loop: true
enable_odom_tf: true
cmd_vel_timeout: 0.5
#publish_limited_velocity: true
use_stamped_vel: false
#velocity_rolling_window_size: 10

170
chapt7/chapt7_ws/src/fishbot_description/config/rviz/dispaly_model.rviz Normal file
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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 480
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.4101419746875763
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 777
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000026bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000026b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000026bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000026b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054a0000003efc0100000002fb0000000800540069006d006501000000000000054a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002d90000026b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1354
X: 70
Y: 27

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